CN109991970A - The charge control method and robot of robot - Google Patents
The charge control method and robot of robot Download PDFInfo
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- CN109991970A CN109991970A CN201711486291.XA CN201711486291A CN109991970A CN 109991970 A CN109991970 A CN 109991970A CN 201711486291 A CN201711486291 A CN 201711486291A CN 109991970 A CN109991970 A CN 109991970A
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000004590 computer program Methods 0.000 claims description 19
- 230000004888 barrier function Effects 0.000 claims description 17
- 230000005611 electricity Effects 0.000 claims description 15
- 238000010411 cooking Methods 0.000 claims description 6
- 238000011897 real-time detection Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 8
- 230000006870 function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000004438 eyesight Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000012491 analyte Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 230000016776 visual perception Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- H02J7/0003—
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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- Computer Vision & Pattern Recognition (AREA)
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Abstract
The present invention is suitable for robotic technology field, provides the charge control method and device of a kind of robot, comprising: obtains target position, the target position is the position of target charging pile；Movement routine is cooked up according to current location and target position；The robot, which is controlled, according to the movement routine is moved to the target position；Determine position and the type of the charging port of the target charging pile；According to the position of the charging port of the target charging pile and type, the robot is controlled by the target charging pile and realizes that itself charges.It solves the disadvantages that traditional charger baby cannot move at any time, some position can only be fixed on.
Description
Technical field
The invention belongs to robotic technology field more particularly to the charge control methods and robot of robot.
Background technique
With the development of the times, people's living standard is gradually increased, and the development of digital product becomes quickly, digital product electricity
It is also more and more to measure not enough situation.The capacity of battery is small, and electricity is not enough to become a big problem.Mobile power source also known as charges
Treasured generates with the needs of people, can alleviate the not enough problem of electricity with charger baby with oneself.But it current fills
Electric treasured must be carried, and the charger baby volume of big electricity causes greatly very much inconvenient to carry again, and the charger baby of small electricity is again not enough,
It results in the need for often charging.In addition, people are when charging to digital products such as mobile phones, it is necessary to carry charging unit and go to power supply
Position is charged, cumbersome in this way, and defines chargeable range, so that charging process user experience is not good enough.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of charge control method of robot and device, it is existing to solve
The problem that charger baby must be carried in technology, charging operations are cumbersome.
The first aspect of the embodiment of the present invention provides a kind of charge control method of robot, comprising:
Target position is obtained, the target position is the position of target charging pile；
Movement routine is cooked up according to current location and target position；
The robot, which is controlled, according to the movement routine is moved to the target position；
Determine position and the type of the charging port of the target charging pile；
According to the position of the charging port of the target charging pile and type, controls the robot and filled by the target
Electric stake realizes that itself charges.
Further, the position of the charging port according to the target charging pile and type, control the robot
Realize that itself charges by the target charging pile, comprising:
If the charging port type of the target charging pile is wireless charging port, the robot movement is controlled, is made
Obtain the wireless charging port of target charging pile described in the charging port face of the robot；
If the charging port type of the target charging pile is wired charging port, the robot movement is controlled, is made
Obtain the wired charging port of target charging pile described in the charging port face of the robot；It controls described in the robot face
Wired charging port is mobile, until the charging port of the robot connects the wired charging port of the upper target charging pile.
It is further, described that the target position is moved to according to the movement routine control robot, comprising:
Whether real-time detection encounters barrier；
If detecting the presence of barrier, movement routine is planned again, and control institute according to the movement routine planned again
It is mobile to state robot, until the robot reaches the target position.
Further, the acquisition target position, comprising:
Self residual electricity is monitored, if remaining capacity is lower than preset threshold, is obtained apart from the robot distance recently
Idle charging pile position, using the free time charging pile as target charging pile, the position of the free time charging pile is as target position
It sets.
The second aspect of the embodiment of the present invention provides a kind of charge control method of robot, comprising:
Target position is obtained, the target position is the position of charging equipment；
Movement routine is cooked up according to current location and target position；
The robot, which is controlled, according to the movement routine is moved to the target position；
Determine position and the type of the charging port of the charging equipment；
According to the position of the charging port of the charging equipment and type, controls the robot and to be charged set to described
It is standby to charge.
Further, according to the position of the charging port of the charging equipment and type, the robot is controlled to institute
Charging equipment is stated to charge, comprising:
If the charging port type of the charging equipment is wireless charging port, the robot movement is controlled, is made
Obtain the wireless charging port of charging equipment described in the charging port face of the robot；
If the charging port type of the target charging pile is wired charging port, the robot movement is controlled, is made
Obtain the wired charging port of target charging pile described in the charging port face of the robot；It controls described in the robot face
Wired charging port is mobile, until the charging port of the robot connects the wired charging port of the upper charging equipment.
Further, the acquisition target position, comprising:
The remaining capacity for obtaining the terminal device being communicatively coupled with the robot, if the residue of the terminal device
Electricity is lower than preset threshold, then the position of the terminal device is obtained, using the terminal device as charging equipment, the terminal device
Position as target position.
The third aspect of the embodiment of the present invention provides a kind of battery charge controller of robot, comprising:
Acquiring unit, for obtaining target position, the target position is the position of target charging pile；
Planning unit, for cooking up movement routine according to current location and target position；
Mobile control unit is moved to the target position for controlling the robot according to the movement routine；
Determination unit, for determining position and the type of the charging port of the target charging pile；
Charging control unit, for according to the charging port of the target charging pile position and type, control the machine
Device people realizes that itself charges by the target charging pile.
The fourth aspect of the embodiment of the present invention provides a kind of battery charge controller of robot, comprising:
Acquiring unit, for obtaining target position, the target position is the position of charging equipment；
Planning unit, for cooking up movement routine according to current location and target position；
Mobile control unit is moved to the target position for controlling the robot according to the movement routine；
Determination unit, for determining position and the type of the charging port of the charging equipment；
Charging control unit, for according to the charging port of the charging equipment position and type, control the machine
Device people charges to the charging equipment.
5th aspect of the embodiment of the present invention provides a kind of robot, comprising: memory, processor and is stored in institute
State the computer program that can be run in memory and on the processor.The processor executes real when the computer program
Now as described in relation to the first aspect method the step of.
6th aspect of the embodiment of the present invention provides a kind of computer readable storage medium, comprising: the computer can
It reads storage medium and is stored with computer program.Method as described in relation to the first aspect is realized when the computer program is executed by processor
The step of.
Existing beneficial effect is the embodiment of the present invention compared with prior art:
It solves the disadvantages that traditional charger baby cannot move at any time, some position can only be fixed on, and can lead
The charge condition of dynamic identification itself or electrical equipment, is moved to target area to itself or electricity consumption according to charge condition active
Equipment charges.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of implementation process schematic diagram of the charge control method of robot provided in an embodiment of the present invention；
Fig. 2 is the implementation process schematic diagram of the charge control method of another robot provided in an embodiment of the present invention；
Fig. 3 is the implementation process schematic diagram of the charge control method of another robot provided in an embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of the battery charge controller of robot provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of the battery charge controller of another robot provided in an embodiment of the present invention；
Fig. 6 is a kind of schematic diagram of robot provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
It is a kind of implementation process signal of the charge control method of robot provided in an embodiment of the present invention with reference to Fig. 1, Fig. 1
Figure, including step S101-S105.
S101, obtains target position, and the target position is the position of target charging pile.
Robot itself has battery, on the one hand gives power itself, on the other hand gives other power supply for electrical equipment.Machine
People monitors self residual electricity, if remaining capacity is lower than preset threshold, obtains apart from the robot apart from the nearest free time
The position of charging pile, using the free time charging pile as target charging pile, the position of the free time charging pile is as target position.
Preset threshold is an empirical value, for the number of remaining capacity measured.The empirical value obtain it is excessive and it is too small all
It is improper, this is because if preset threshold obtain it is excessive, may make robot in the also enough situations of electricity itself before
Toward charging, waste of resource.If preset strength threshold value obtains too small, it is likely that robot remaining capacity can be made to be not enough to support
It reaches charging pile.Certainly, in some special circumstances, preset strength threshold value can be arbitrarily arranged according to the hobby of user.This
Invention is not particularly limited the preset strength threshold value.
Further, robot also can receive the target position of user's input.User can input target by voice
Position, or the user terminal by being equipped with application program of mobile phone input target position, or input mesh by the keyboard of robot
Cursor position, or the touch-screen input target position for passing through robot.
In addition, user can also be defeated by being equipped with the personal computer (PersonalComputer, PC) of application program
Enter target position；Alternatively, target position can be sent to server, then by server by the PC of connection server by user
It is transmitted to the robot, target position is received by robot.
S102 cooks up movement routine according to current location and target position.
Path Planning Technique is a pith of mobile robot research field, and many international renowned companies are all right
It has made intensive studies, therefore the various Path Planning Techniques that have been born, and Path Planning Technique can for broad aspect
To be divided into 2 major class: global path planning technology and local Path Planning Technique, global path planning technology and local paths planning
Below this 2 major class of technology it is again each there are many branch technique.Because of the diversity of Path Planning Technique, the research and development of company, robot
Emphasis is different, and the mobile robot that thus company, robot is produced is also different.A kind of implementation of the invention
Using the robot of excellent essential company in example, it will be understood by those skilled in the art that being merely illustrative statement herein, not
It can be interpreted as to concrete restriction of the invention.
After robot obtains target position, robot cooks up movement routine according to current location and the target position,
The movement routine can be the shortest optimal movement routine in path.
S103 controls the robot according to the movement routine and is moved to the target position.
Robot is moved according to the movement routine planned in above-mentioned steps 102, stops moving until reaching target position
It is dynamic.If user cancels this subcommand in robot movement on the way, then robot by backtracking or stop it is mobile or according to
Another object position is gone in the order of user.Further, the embodiment of the present invention is there are also another situation, if robot according to
Movement routine carry out it is mobile during encounter barrier, such case needs again to plan movement routine, this can be
It is discussed in detail in the following examples, the present embodiment, which is not done, excessively to be repeated.
S104 determines position and the type of the charging port of the target charging pile.
With the development of computer science and automatic control technology, vision system is as a weight in intelligent robot system
The subsystem wanted, is also increasingly valued by people.Robot vision is the system for making robot have visual perception function,
It is one of the pith of robot system composition.Robot vision can obtain the X-Y scheme of environment by visual sensor
Picture, and analyzed and explained by vision processor, and then be converted to symbol, allow robot that can recognize object, and determine
Its position.
In the embodiment of the present invention, robot determines the charging port of the target charging pile by robotic vision system
Position and type.The charging port type of the target charging pile is divided into wireless charging port and wired charging port.
S105 controls the robot described according to the position of the charging port of the target charging pile and type
Target charging pile realizes that itself charges.
If the charging port type of the target charging pile is wireless charging port, the robot movement is controlled, is made
Obtain the wireless charging port of target charging pile described in the charging port face of the robot；
If the charging port type of the target charging pile is wired charging port, the robot movement is controlled, is made
Obtain the wired charging port of target charging pile described in the charging port face of the robot；It controls described in the robot face
Wired charging port is mobile, until the charging port of the robot connects the wired charging port of the upper target charging pile.
The wireless charging port of the charging port face target charging pile of robot connects the wired of upper target charging pile
After charging port, robot realizes that itself charges by target charging pile.
Robot cooks up movement by obtaining the position apart from nearest idle charging pile automatically in the embodiment of the present invention
Path reaches target position, and the automatic charging pile that connects charges.Robot can be according to self residual in the embodiment of the present invention
Electricity, the autonomous power supply that is moved to nearby charge to itself, avoid manually-operated cumbersome, saving manpower.
In above-described embodiment, if robot encounters barrier, this feelings during carrying out mobile according to movement routine
Condition needs again to plan movement routine, is filling for another robot provided in an embodiment of the present invention with reference to Fig. 2, Fig. 2
The implementation process schematic diagram of electric control method, the present embodiment control above-described embodiment step S103 according to the movement routine
The robot is moved to the target position, has done specific restriction, the something in common of the present embodiment and above-described embodiment, herein
It repeats no more, only describes place unlike the embodiments above.As shown in Fig. 2, step S103 includes step S201-S202.
Step S201, the detection device that breaks the barriers, which detects, encounters barrier.
Detecting robot front, whether there are obstacles, is realized by placing obstacles analyte detection device, the present invention is implemented
In example, obstacle detector can be contact or contactless.Robot uses the obstacle detector of contact, passes through
Feeler arm is lengthened, investigative range and sensitivity are expanded.When robot bumps against the barrier of front, the letter of obstacle detector
Number end can return to a high level, it is possible thereby to which there is barriers in face of knowing.Contactless obstacle detector
Then what environmental condition is limited without.Emit sound wave or certain ray or infrared by contactless obstacle detector
Line when encountering barrier, sound wave or ray or infrared ray is reflected back, and is received by sensor, at this point, robot determines hair
Barrier is showed.
One kind of the invention used in the examples is contactless obstacle detector, can be to avoid artificial to machine
At damage.
Further, in the embodiment of the present invention, range sensor can be applied in obstacle detector, so that machine
Device people can not only find out the presence of barrier, can also find out the distance that distance touches barrier.It should be understood that being only herein
Exemplary statement can not be interpreted as to concrete restriction of the invention.
Step S202 plans movement routine again, and mobile according to the movement routine control robot planned again,
Until the robot reaches the target position.
Obstacle detector detects encounter barrier after, robot according to current location and the target position again
Movement routine is cooked up, and controls the robot movement according to the movement routine planned again, until the robot reaches
The target position.
In the embodiment of the present invention, encountered in robot moving process barrier can automatic avoiding obstacles, plan again
Optimal movement routine out allows robot most rapidly to reach target position in the case where guaranteeing lossless security situation.
Show with reference to the implementation process that Fig. 3, Fig. 3 are the charge control methods of another robot provided in an embodiment of the present invention
It is intended to, including step S301-S305.
S301, obtains target position, and the target position is the position of charging equipment.
The remaining capacity for obtaining the terminal device being communicatively coupled with the robot, if the residue of the terminal device
Electricity is lower than preset threshold, then the position of the terminal device is obtained, using the terminal device as charging equipment, the terminal device
Position as target position.
Preset threshold is an empirical value, for measure terminal device remaining capacity number.The empirical value has been got
It is big and too small all improper, this is because if preset threshold obtain it is excessive, may make robot terminal device electricity also
It goes in the case where enough uses and charges to it.If preset strength threshold value obtains too small, it is likely that terminal can be made to set
Standby remaining capacity cannot support to robot arrival.It certainly, in some special circumstances, can be random according to the hobby of user
Preset strength threshold value is set.The present invention is not particularly limited the preset strength threshold value.
Further, robot also can receive the target position of user's input.User can input target by voice
Position, or the user terminal by being equipped with application program of mobile phone input target position, or input mesh by the keyboard of robot
Cursor position, or the touch-screen input target position for passing through robot.
In addition, user can also be defeated by being equipped with the personal computer (PersonalComputer, PC) of application program
Enter target position；Alternatively, target position can be sent to server, then by server by the PC of connection server by user
It is transmitted to the robot, target position is received by robot.
S302 cooks up movement routine according to current location and target position.
After robot obtains target position, robot cooks up movement routine according to current location and the target position,
The movement routine can be the shortest optimal movement routine in path.
S303 controls the robot according to the movement routine and is moved to the target position.
Robot is moved according to the movement routine planned in above-mentioned steps 302, stops moving until reaching target position
It is dynamic.If user cancels this subcommand in robot movement on the way, then robot by backtracking or stop it is mobile or according to
Another object position is gone in the order of user.Further, the embodiment of the present invention is there are also another situation, if robot according to
Movement routine carries out encountering barrier during movement, and such case needs again to plan movement routine, Ke Yican
The content of preceding embodiment is examined, the present embodiment, which is no longer done, excessively to be repeated.
S304 determines position and the type of the charging port of the charging equipment.
In the embodiment of the present invention, robot determines the charging end of the charging equipment by robotic vision system
The position of mouth and type.The charging port type of the charging equipment is divided into wireless charging port and wired charging port.
S305, according to the position of the charging port of the charging equipment and type, control the robot to it is described to
Charging equipment charges.
If the charging port type of the charging equipment is wireless charging port, the robot movement is controlled, is made
Obtain the wireless charging port of charging equipment described in the charging port face of the robot；
If the charging port type of the charging equipment is wired charging port, the robot movement is controlled, is made
Obtain the wired charging port of the charging equipment described in the charging port face of the robot；Control the robot face
The wired charging port is mobile, until the charging port of the robot connects the wired charging end of the upper charging equipment
Mouthful.
The wireless charging port of the charging port face charging equipment of robot connects the wired of upper charging equipment
After charging port, robot starts to charge to charging equipment.
In the embodiment of the present invention, the position of the few terminal device of robot automatic identification remaining capacity, and plan movement
Target position is gone in path automatically, and the automatic charging equipment that connects charges to it.Solving traditional charger baby cannot be at any time
It is mobile, the shortcomings that some position can only be fixed on, and can the identification itself of active or the charge condition of electrical equipment,
It is charged according to the target area that is moved to of charge condition active to itself or electrical equipment.Allow user in any position
Set it is arbitrary using the terminal devices such as mobile phone, can allow user it is more wholwe-hearted work or game, without worrying again
Not enough power supply.
In the above-described embodiments without the part for being described in detail or recording, the associated description of other embodiments may refer to.
It is a kind of schematic diagram of the battery charge controller of robot provided in an embodiment of the present invention with reference to Fig. 4, Fig. 4, including
Acquiring unit 41, planning unit 42, mobile control unit 43, determination unit 44, charging control unit 45.
Acquiring unit 41, for obtaining target position, the target position is the position of target charging pile；
Planning unit 42, for cooking up movement routine according to current location and target position；
Mobile control unit 43 is moved to the target position for controlling the robot according to the movement routine；
Determination unit 44, for determining position and the type of the charging port of the target charging pile；
Charging control unit 45, for according to the charging port of the target charging pile position and type, described in control
Robot realizes that itself charges by the target charging pile.
It is the schematic diagram of the battery charge controller of another robot provided in an embodiment of the present invention, packet with reference to Fig. 5, Fig. 5
Include acquiring unit 51, planning unit 52, mobile control unit 53, determination unit 54, charging control unit 55.
Acquiring unit 51, for obtaining target position, the target position is the position of charging equipment；
Planning unit 52, for cooking up movement routine according to current location and target position；
Mobile control unit 53 is moved to the target position for controlling the robot according to the movement routine；
Determination unit 54, for determining position and the type of the charging port of the charging equipment；
Charging control unit 55, for according to the charging port of the charging equipment position and type, described in control
Robot charges to the charging equipment.
In the above-described embodiments without the part for being described in detail or recording, the associated description of other embodiments may refer to.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Fig. 6 is a kind of schematic diagram for robot that one embodiment of the invention provides.As shown in fig. 6, the machine of the embodiment
People 6 includes: processor 60, memory 61 and is stored in the meter that can be run in the memory 61 and on the processor 60
Calculation machine program 62.The processor 60 realizes the step in above-mentioned each embodiment of the method when executing the computer program 62,
Such as step 101 shown in FIG. 1 is to 105.Alternatively, the processor 60 realizes above-mentioned each dress when executing the computer program 62
Set the function of each module/unit in embodiment, such as the function of module 41 to 45 shown in Fig. 4.
Illustratively, the computer program 62 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 61, and are executed by the processor 60, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 62 in the robot 6 is described.
The robot 6 can be desktop PC, notebook, palm PC and cloud server etc. and calculate equipment.
The robot may include, but be not limited only to, processor 60, memory 61.It will be understood by those skilled in the art that Fig. 6 is only
It is the example of robot 6, does not constitute the restriction to robot 6, may include than illustrating more or fewer components or group
Close certain components or different components, for example, the robot can also include input-output equipment, network access equipment,
Bus etc..
Alleged processor 60 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 61 can be the internal storage unit of the robot 6, such as the hard disk or memory of robot 6.
The memory 61 is also possible to the External memory equipment of the robot 6, such as the plug-in type being equipped in the robot 6 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 61 can also both include the internal storage unit of the robot 6 or wrap
Include External memory equipment.The memory 61 is for other programs needed for storing the computer program and the robot
And data.The memory 61 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the meter
The content that calculation machine readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice,
It such as does not include electric carrier signal and telecommunications according to legislation and patent practice, computer-readable medium in certain jurisdictions
Signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (11)
1. a kind of charge control method of robot characterized by comprising
Target position is obtained, the target position is the position of target charging pile；
Movement routine is cooked up according to current location and target position；
The robot, which is controlled, according to the movement routine is moved to the target position；
Determine position and the type of the charging port of the target charging pile；
According to the position of the charging port of the target charging pile and type, controls the robot and pass through the target charging pile
Realize that itself charges.
2. charge control method as described in claim 1, which is characterized in that the charging end according to the target charging pile
The position of mouth and type control the robot by the target charging pile and realize that itself charges, comprising:
If the charging port type of the target charging pile is wireless charging port, the robot movement is controlled, so that institute
State the wireless charging port of target charging pile described in the charging port face of robot；
If the charging port type of the target charging pile is wired charging port, the robot movement is controlled, so that institute
State the wired charging port of target charging pile described in the charging port face of robot；It controls wired described in the robot face
Charging port is mobile, until the charging port of the robot connects the wired charging port of the upper target charging pile.
3. charge control method as claimed in claim 1 or 2, which is characterized in that described to control institute according to the movement routine
It states robot and is moved to the target position, comprising:
Whether real-time detection encounters barrier；
If detecting the presence of barrier, movement routine is planned again, and control the machine according to the movement routine planned again
Device people is mobile, until the robot reaches the target position.
4. charge control method as claimed in claim 1 or 2, which is characterized in that the acquisition target position, comprising:
Self residual electricity is monitored, if remaining capacity is lower than preset threshold, is obtained apart from the robot apart from nearest sky
The position of not busy charging pile, using the free time charging pile as target charging pile, the position of the free time charging pile is as target position.
5. a kind of charge control method of robot characterized by comprising
Target position is obtained, the target position is the position of charging equipment；
Movement routine is cooked up according to current location and target position；
The robot, which is controlled, according to the movement routine is moved to the target position；
Determine position and the type of the charging port of the charging equipment；
According to the position of the charging port of the charging equipment and type, control the robot to the charging equipment into
Row charging.
6. charge control method as claimed in claim 5, which is characterized in that according to the charging port of the charging equipment
Position and type control the robot and charge to the charging equipment, comprising:
If the charging port type of the charging equipment is wireless charging port, the robot movement is controlled, so that institute
State the wireless charging port of charging equipment described in the charging port face of robot；
If the charging port type of the target charging pile is wired charging port, the robot movement is controlled, so that institute
State the wired charging port of target charging pile described in the charging port face of robot；It controls wired described in the robot face
Charging port is mobile, until the charging port of the robot connects the wired charging port of the upper charging equipment.
7. such as charge control method described in claim 5 or 6, which is characterized in that the acquisition target position, comprising:
The remaining capacity for obtaining the terminal device being communicatively coupled with the robot, if the remaining capacity of the terminal device
Lower than preset threshold, then the position of the terminal device is obtained, using the terminal device as charging equipment, the position of the terminal device
It sets as target position.
8. a kind of battery charge controller of robot characterized by comprising
Acquiring unit, for obtaining target position, the target position is the position of target charging pile；
Planning unit, for cooking up movement routine according to current location and target position；
Mobile control unit is moved to the target position for controlling the robot according to the movement routine；
Determination unit, for determining position and the type of the charging port of the target charging pile；
Charging control unit, for according to the charging port of the target charging pile position and type, control the robot
Realize that itself charges by the target charging pile.
9. a kind of battery charge controller of robot characterized by comprising
Acquiring unit, for obtaining target position, the target position is the position of charging equipment；
Planning unit, for cooking up movement routine according to current location and target position；
Mobile control unit is moved to the target position for controlling the robot according to the movement routine；
Determination unit, for determining position and the type of the charging port of the charging equipment；
Charging control unit, for according to the charging port of the charging equipment position and type, control the robot
It charges to the charging equipment.
10. a kind of robot, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor realizes such as claim 1 to 7 times when executing the computer program
The step of one the method.
11. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 7 of realization the method.
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|---|---|---|---|
| CN201711486291.XA CN109991970A (en) | 2017-12-29 | 2017-12-29 | The charge control method and robot of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711486291.XA CN109991970A (en) | 2017-12-29 | 2017-12-29 | The charge control method and robot of robot |
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| Publication Number | Publication Date |
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| CN201711486291.XA Pending CN109991970A (en) | 2017-12-29 | 2017-12-29 | The charge control method and robot of robot |
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| CN110556893A (en) * | 2019-09-16 | 2019-12-10 | 广东博智林机器人有限公司 | Robot automatic charging method, system and control background |
| CN110880798A (en) * | 2019-11-26 | 2020-03-13 | 爱菲力斯(深圳)科技有限公司 | Robot charging method, robot charging device, robot and system |
| CN111257906A (en) * | 2020-02-11 | 2020-06-09 | 鹏城实验室 | Laser radar monitoring system, method and device |
| CN112183524A (en) * | 2020-08-31 | 2021-01-05 | 深圳市优必选科技股份有限公司 | Robot wired network docking method, system, terminal device and storage medium |
| CN112256024A (en) * | 2020-09-27 | 2021-01-22 | 北京京东乾石科技有限公司 | Method, device, equipment and computer readable medium for controlling robot charging |
| CN113783246A (en) * | 2021-08-10 | 2021-12-10 | 中国地质大学（武汉） | Intelligent charging robot system and charging method thereof |
| CN114063611A (en) * | 2021-10-19 | 2022-02-18 | 深圳优地科技有限公司 | Robot charging connection method and device, robot and storage medium |
| CN114457733A (en) * | 2021-12-30 | 2022-05-10 | 深圳市越疆科技有限公司 | Control method and device for cleaning robot, system and medium |
| CN115133661A (en) * | 2021-03-24 | 2022-09-30 | 云米互联科技(广东)有限公司 | Wireless charging method, mobile power supply device, household appliance, system and medium |
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